Touching on how the two adversaries began a new era after the war, Mr. Obama said Japan and the U.S. have now become “steadfast allies” that collaborate on advancing common interests and universal values globally. “Seventy years ago this partnership was unimaginable,” he said.

Mr. Obama also paid tribute to the sacrifice of the American servicemen and women who served during the war. “We live in freedom because of their brave service,” he said.

Japan’s chief cabinet secretary, Yoshihide Suga, welcomed Mr. Obama's message during his regular news conference Thursday, saying Tokyo will continue to work with the U.S. to further develop bilateral ties.